Energy Expenditure For Locomotion Research Articles

Wheels-in-wheels: Use of gravity in human locomotion

Although a wheel is an ideal method for transportation and the invention of the spoke wheel made a wheel lighter and swifter, a wheel cannot function well on slanted or rough surfaces; these are common in the natural environment. Further, the load support of the wheel is limited to a point of the whole wheel in contact with the ground. Then, we humans may be using the legs as a part of spoke wheel and place our legs and feet on the ground alternatively to support the body weight while the gravitational torque makes the center of mass (COM) rotate around the hip joint when proper stiffness and balance is made. Through a pulley-like action involving the hamstrings and a lever-like action of back muscles via the psoas muscle, the energy expenditure for locomotion can be reduced to the energy for lifting the swing leg to maintain the proper position of the COM. Further, the stabilizing action of the psoas muscle to the spinal column can be achieved between the stance leg and the swing leg by the weight of the lifted swing leg during the forward movement. This lifting action during swing phase can assist an energy-efficient eccentric contraction of the stance leg. The passive tension generated by gravity (own weight and the carried load) can be the reason for the energy efficiency of both head-carrying and the Nepalese porter method. Using this passive gravitational force via actively synchronized neuromuscular action may be universal for animal locomotion.

Optimal Energy-Effective Gait for Biped Robot

Although peoples legs are capable of a broad range of muscle-use and gait patterns, they generally prefer just two, walking and running. A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed. An energy-effective gait is designed by using piecewise torque method. Then, the robot model can exhibit a natural and reasonable walk on a level ground. The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot. And we also discover some walking rules maybe true through the results of optimization.

Optimized Passive Coupling Control for Biped Robot

A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, we just consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed optimized virtual passive and virtual coupling control laws. This is also a simple and effective gait-generation method based on this kneed walker model, which imitates the energy behavior in every walking cycle. The control strategy is formed by taking into account the features of mechanical energy dissipation and restoration. Following the proposed method, we use computer optimization to find which gaits are indeed energetically optimal for this model. And we also prove some walking rules maybe true by the results of simulations. DOI: http://dx.doi.org/10.11591/telkomnika.v11i6.2612 Full Text: PDF

M Optimized Multi Virtual Gravity

A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, we just consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed optimized virtual passive control laws This is also a simple and effective gait-generation method based on this kneed walker model, which imitates the energy and torque behaviors in every walking cycle. Following the proposed method, we use computer optimization to find which gaits are indeed energetically optimal for this model. We prove some walking rules maybe true by the results of simulations and experiments on the existing walking robot.

The relationship between mechanical work and energy expenditure of locomotion in horses.

Three-dimensional motion capture and metabolic assessment were performed on four standardbred horses while walking, trotting and galloping on a motorized treadmill at different speeds. The mechanical work was partitioned into the internal work (W(INT)), due to the speed changes of body segments with respect to the body centre of mass, and the external work (W(EXT)), due to the position and speed changes of the body centre of mass with respect to the environment. The estimated total mechanical work (W(TOT)=W(INT)+W(EXT)) increased with speed, while metabolic work (C) remained rather constant. As a consequence, the 'apparent efficiency' (eff(APP)=W(TOT)/C) increased from 10 % (walking) to over 100 % (galloping), setting the highest value to date for terrestrial locomotion. The contribution of elastic structures in the horse's limbs was evaluated by calculating the elastic energy stored and released during a single bounce (W(EL,BOUNCE)), which was approximately 1.23 J kg(-)(1) for trotting and up to 6 J kg(-)(1) for galloping. When taking into account the elastic energy stored by the spine bending and released as W(INT), as suggested in the literature for galloping, W(EL,BOUNCE) was reduced by 0.88 J kg(-)(1). Indirect evidence indicates that force, in addition to mechanical work, is also a determinant of the metabolic energy expenditure in horse locomotion.

Goats Locomotion Energy Expenditure under Range Grazing Conditions: Seasonal Variation

The estimation of the energy cost of various activities using calorimetric techniques in conjunction with direct field observations can be used to estimate energy expended in the daily activities of free-ranging animals. The objective of this study was to observe and quantify the grazing activities and to estimate the energy expenditure due to locomotion of goats in open range. The study was carried out at 'Finca de Bonaya' privatelyowned site, which extends over 1,482 ha, located in the Nevada mountain-range, Almeria. The local altitude varies from 1,100 to 2,000 m above sea level. The area has a mediterranean mountain climate, with annual precipitation ranging from 400 to 700 mm and average daily temperatures from 4.7?C in winter to 23.0?C in summer. Landscape is characterised by holm-oak wood and pine wood, degradation scrubs and hydrophilic grasses communities. The experimental flock grazed on 3 routes during the whole year. The goats were released to graze during the day and then returned to an enclosed shed. The type of goat management was considered as semi-extensive. Direct observation was used to simulate the total distance walked, the vertical ascent or descent, and to quantify other grazing activities. Data on activities on range and distance travelled were taken on 3 days in each season. The energy expenditure of locomotion was calculated from the horizontal and vertical components of travel and the corresponding costs, which had been previously obtained by calorimetry. There was no significant seasonal effect on period devoted to specific activities on range (P>0.05). However, significant changes in the estimated daily energy expenditure and extra energy expenditure due to locomotion of the animals at pasture were found in different seasons (P<0.05). Grazing and walking were the primary activities of goats throughout the study, accounting for 51.7 and 42.0% of the animals' daily period on range, respectively. Daily travelled distances by goats on range fluctuated from 12,777 m in summer to 8,100 m in autumn, with an annual average of 9,954 m, which represents a mean speed of 20.8 m/min calculated over the whole period on range. The mean annual vertical ascent or descent was 500 m. Estimated heat production due to locomotion ranged from 130.9 to 88.5 kJ/kg0 75 per day in summer and autumn respectively. These values account for an increased metabolizable energy (ME) requirement at pasture above maintenance of 46.6 and 31.6%, respectively, assuming a ME requirement for maintenance of 401 kJ/kg075 per day for the restrained goat.

Seasonal Variation of Locomotion and Energy Expenditure in Goats under Range Grazing Conditions

Energy cost of various activities can be used in conjunction with direct field observations to estimate energy expended in the daily activities of free-ranging animals. The objective of this study was to estimate the energy expenditure due to locomotion of goats on open range. The study was carried out at the 130-ha Los Pajares pilot zone, located in the Filabres mountain-range, Almeria. Average elevation is 865 m above sea level. The area has a Mediterranean climate. The mean annual precipitation is 324 mm. The average daily temperatures range from 8.9 degrees C in January to 23.0 degrees C in August. The landscape is characterized by woody plants and perennial grasses. The experimental flock was grazed on its customary routes for 2 days during 4 seasons. The goats were released to graze during the day and then returned to an enclosed shed. Direct observation was used to simulate the total distance walked, the vertical ascent or descent, and to quantify other grazing activities. The energy expenditure of locomotion was calculated from the horizontal and vertical components of travel and the corresponding costs, which had been previously obtained by calorimetry. Daily travel distances by goats on range fluctuated from 5,763 m in summer to 3,482 m in autumn, with an annual average of 4,295 m, which represents a mean speed of 10.8 m/min. The mean annual vertical ascent or descent was 168 m. Estimated heat production due to locomotion ranged from 56.9 to 34.8 kJ/kg(0.75) per day in summer and autumn respectively. These values account for an increased energy requirement at pasture above maintenance of 14.2 and 8.7%, respectively.